CN104521132B - Automatic electric motivation is adapted to - Google Patents
Automatic electric motivation is adapted to Download PDFInfo
- Publication number
- CN104521132B CN104521132B CN201380041610.XA CN201380041610A CN104521132B CN 104521132 B CN104521132 B CN 104521132B CN 201380041610 A CN201380041610 A CN 201380041610A CN 104521132 B CN104521132 B CN 104521132B
- Authority
- CN
- China
- Prior art keywords
- motor
- motor system
- electric motor
- sequences
- sequence
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/0084—Arrangements for measuring currents or voltages or for indicating presence or sign thereof measuring voltage only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/0092—Arrangements for measuring currents or voltages or for indicating presence or sign thereof measuring current only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
- G01R27/14—Measuring resistance by measuring current or voltage obtained from a reference source
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
- G01R27/26—Measuring inductance or capacitance; Measuring quality factor, e.g. by using the resonance method; Measuring loss factor; Measuring dielectric constants ; Measuring impedance or related variables
- G01R27/2611—Measuring inductance
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/2832—Specific tests of electronic circuits not provided for elsewhere
- G01R31/2836—Fault-finding or characterising
- G01R31/2837—Characterising or performance testing, e.g. of frequency response
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/01—Asynchronous machines
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Ac Motors In General (AREA)
- Tests Of Circuit Breakers, Generators, And Electric Motors (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Describe a kind of method for the electromagnetic property for determining Motor System.Apply DC sequences, the DC sequences include the direct current vector being sequentially applied in the different phases of the motor.Exchange sequence may be applied in the different phases of the motor, and the exchange sequence includes the pulse with the out of phase different direct current offsets for being applied to the motor.These direct currents and alternating-current pulse, which are applied that, minimizes produced any torque.The data obtained are used to calculate the stator resistance and rotor resistance of the motor, non-linear and the motor the nominal stator transient inductance of the inverter of the electric motor system and magnetizing inductance.
Description
Technical field
The present invention relates to a kind of mechanism for being used to determine the electromagnetic property of asynchronous motor.
Background technology
Fig. 1 is the high-level schematic block diagram of known electric motor system, is generally indicated by reference number 1.Motor system
System 1 includes AC power 2, rectifier 4, DC link capacitors 6, inverter module 8, threephase motor 10 and controller
12。
As known in the art, the AC power provided by AC power 2 is converted to direct current by rectifier 4
Dc source at link. capacitor 6.It (is typically insulated gate bipolar crystal that inverter module 8, which includes multiple switching devices,
Manage (IGBT)), these switching devices are used to be converted to the direct current signal at DC link capacitors 6 to be provided to motor 10
Each phase three AC signals.Controller 12 provides switching for each in these switching devices of inverter module 8
Instruction.Therefore, controller 12 can accurately control the frequency of each that is provided in these signals of motor 10 and
Phase.
Controller 12 can for example be used to control motor 10 to provide desired speed and/or torque.In order to
Accurately controlled, controller 12 considers that the electromagnetic property of motor 10 is necessary.
A kind of method is to use the data table information related to motor 10.However, when this information is available, it is right
Motor 10 carries out accurate also often not accurate enough and accurate with efficient control.
It is the characteristic for measuring motor itself using a kind of alternative of data table information.Example, it is well known that
Control to inject a signal into motor 10 using controller 12, monitor the response to those signals, and based on those sound
The various resistance and inductance of motor 10 should be estimated.
In some cases, it is desirable to be by Bulk current injection to motor, to mitigate as non-caused by inverter
It is linear or explore other non-linear (such as magnetic saturation).Significant heating will be likely to result in Bulk current injection to motor, and
Motor and/or inverter can be caused damage.Further, for obtain the characteristic on motor 10 data it is some
Existing method is slower.
Many existing methods require that motor 10 rotates to determine the electrical characteristics and magnetic characteristic of motor.Due to motor
10 are installed in system, and this may be often undesirable.It would thus be advantageous to make it possible in some cases electronic
This data are obtained when machine is static.
The present invention seeks at least some of in solution these problems outlined above.
The content of the invention
The invention provides a kind of determination Motor System (for example, multiphase (such as three-phase) Motor System)
The method of electromagnetic property, this method includes applying a DC sequences to the electric motor system and applied to the electric motor system
One exchange sequence, wherein, the DC sequences include mutually applying a first direct current sequence to one first of the electric motor system
Arrange and mutually apply second DC sequences to one second of the electric motor system, and the exchange sequence is included to the electricity
One the 3rd and/or the 4th phase (it can be first and second phase respectively) of motivation system applies an exchange sequence
Row, first and second DC sequences each include：It is provided for first direct current being applied on the electric motor system
Level is flowed, and measurement is applied to the electric current on the electric motor system in response to the setting of first direct current power level
And/or voltage；The direct current power level applied in first DC sequences is adjusted, and is measured straight in response to what is adjusted
Flow current level and be applied to electric current and/or voltage on the motor；And the adjustment and measuring process are repeated, until completing
Corresponding DC sequences.
Each direct current power level applied during for a DC sequences in these DC sequences, can be with
The motor time is given to settle out before these voltages and/or current measurement is carried out.For example, this method can enter one
Step includes being monitored the electric current being applied on the motor determining when applied direct current power level settles out.
Alternatively, simple delay can be used.Delay is provided to be easier to realize, can but measured when having settled out
Can more accurately and more rapidly.
In a kind of form of the present invention, the exchange sequence include to the electric motor system the third phase (its with this
One is mutually the same) the exchange sequence of application one first and (it second is mutually with this to the 4th phase of the electric motor system
It is the same) one second exchange sequence of application, the first and second exchanges sequence each includes：One the first direct current offset is set
Level；Mutually apply one or more AC signals to the correspondence of the electric motor system, these AC signals include set straight
Flow offset level, and measure be applied in response to these AC signals applied the electric current on the electric motor system and/
Or voltage；The DC offset levels are adjusted, mutually applying to the correspondence of the electric motor system includes adjusted DC offset levels
One or more AC signals, and measure be applied in response to the signal applied electric current on the motor and/or
Voltage；And the adjustment and measuring process are repeated, until completing corresponding exchange sequence.
Motor System (such as multiphase (such as three-phase) Motor System) is determined present invention also offers one kind
Electromagnetic property method, this method includes applying a DC sequences to the electric motor system and applies to the electric motor system
Plus an exchange sequence, wherein, the DC sequences include mutually applying first direct current to one first of the electric motor system
Sequence and mutually apply a DC sequences, and the exchange sequence to one first of the electric motor system and/or one second
A third phase (its with this first be mutually the same) application one first that row are included to the electric motor system exchange sequence with
And sequence is exchanged to the 4th phase (its with this second be mutually the same) application one second of the electric motor system, this first
Exchanging sequence with second each includes：One the first DC offset levels is set；Mutually apply one to the correspondence of the electric motor system
Individual or multiple AC signals, these AC signals include set DC offset levels, and measure in response to being applied
These AC signals and be applied to electric current and/or voltage on the electric motor system；The DC offset levels are adjusted, it is electronic to this
The correspondence of machine system, which mutually applies, includes one or more AC signals of adjusted DC offset levels, and measurement in response to
The signal that is applied and be applied to electric current and/or voltage on the motor；And the adjustment and measuring process are repeated, until complete
Into corresponding exchange sequence.
Mutually applying one or more AC signals to the correspondence of the electric motor system can include applying in the following
It is one or more：One high-frequency signal (it is typically used in estimation instantaneous motor inductance --- it is rated motor frequency that may have
4-6 times of frequency), low frequency signal (being typically used in estimation mutual inductance (magnetizing inductance)) and a slip frequency (allusion quotation
It is used to estimate rotor resistance) type.
In some forms of the present invention, these DC offset levels of these exchange sequences are dispersed in the electric motor system
These phases in, its mode for cause for each phase total-power loss it is roughly equal.
These direct currents may be applied that any torque produced by making in the electric motor system is minimum with sequence is exchanged
Change (and being ideally not enough to rotate the axle of the electric motor system).(there is a kind of phenomenon for being referred to as remanent magnetism：Stator core is soft
Magnetic material, and can slightly be magnetized.Apply electric current to motor and cause remanent magnetism, and can cause to produce in motor internal
Slight torque.This is inevitable.)
The DC sequences can further include mutually applying a 3rd direct current sequence to one the 5th of the electric motor system
Row.
The exchange sequence, which may further include to one the 6th of the electric motor system, mutually applies one the 3rd exchange sequence
Row.
The present invention may involve the use of the data obtained in the application from the DC sequences to determine the motor
Stator resistance and/or one are used for the non-linear of the inverter for driving the motor.
In a kind of form of the present invention, the data obtained in the application from the exchange sequence are used to determine the electricity
Nominal stator transient inductance, magnetizing inductance and/or the rotor resistance of motivation.However, institute in Fig. 3 as discussed below and Figure 12
Mention, there is an infinite number of equivalent circuit, these equivalent circuits can be produced by adjusting how parsing leakage inductance.This hair
It is bright to identify the basic parameter of induction machine, how to be represented but regardless of those basic parameters in equivalent circuit.
First and second phase of the electric motor system can be selected from：One positive U vectors, negative U vectors, a positive V
Vector, a negative V vector, a positive W vector and a negative W vector.
Third and fourth phase of the electric motor system can be selected from：One positive U vectors, negative U vectors, a positive V
Vector, a negative V vector, a positive W vector and a negative W vector.
Brief description of the drawings
The present invention is more fully described referring now to schematic diagram below, in the accompanying drawings：
Fig. 1 is the block diagram of known electric motor system；
Fig. 2 is the flow chart of algorithm according to an aspect of the present invention；
Fig. 3 is the equivalent circuit of asynchronous motor；
Fig. 4 is the flow chart of DC sequences according to an aspect of the present invention；
Fig. 5 is the vectogram of threephase asynchronous；
Fig. 6 is the vectogram of threephase asynchronous；
Fig. 7 shows the details of a part for Fig. 4 flow chart；
Fig. 8 is the block diagram of system according to an aspect of the present invention；
Fig. 9 shows the curve map for applying electric current of exemplary DC sequence；
Figure 10 shows the current measured of exemplary DC sequence and the curve map of voltage；
Figure 11 shows exemplary UeCurve；
Figure 12 is the replacement equivalent circuit of asynchronous motor；
Figure 13 is the flow chart of exchange sequence according to an aspect of the present invention；
Figure 14 shows the curve map for applying electric current of exemplary exchange sequence；
Figure 15 is the block diagram of compensation mechanism according to an aspect of the present invention, and the compensation mechanism can exchange sequence applying
Used during row；
Figure 16 is the block diagram for substituting compensation mechanism；And
Figure 17 is the block diagram of other compensation mechanism.
Embodiment
Fig. 2 is the flow chart of algorithm according to an aspect of the present invention, is generally indicated by reference number 20.
Algorithm 20 starts in step 22, and wherein DC sequences are performed.As detailed below, DC sequences are used for
Measure the equivalent stator resistance R that is non-linear and measuring motor 10 of inverter 8s, it is potentially included in inverter and cable
Electricresistance effect.
Next, algorithm is moved to step 24, wherein exchange sequence is performed.Then, algorithm 20 is terminated.Following article institute
State, exchange sequence is used for nominal stator transient inductance, magnetizing inductance and the rotor resistance for measuring motor 10.
Fig. 3 is the equivalent circuit of the motor when asynchronous motor (motor 10 as described above) is static.Should
Equivalent circuit (generally being indicated by reference number 30) includes stator resistance Rs, stator leakage inductance Ls1, mutual inductance Lh, rotor leakage inductance Lr1With
And rotor resistance Rr.Inductor rotor L is simply calculated in the following mannerrWith stator inductance Ls：Lr=Lh+Lr1；And Ls=Lh+
Ls1。
As noted, DC sequences 22 are used to measure stator resistance Rs.Using DC sequences, due in direct current
Various inductance shown in equivalent circuit 30 show as short circuit, and therefore equivalent circuit 30 can be similar to stator resistance Rs。
Fig. 4 is the flow chart of DC sequences according to an aspect of the present invention, is generally indicated by reference number 40.
Algorithm 40 starts in step 42, wherein it is determined which of motor 10 will mutually be used for motor Injection Signal.
The three-phase (being labeled as u, v and w) of example electric motor is shown in Fig. 5 and Fig. 6.(note, although describe threephase motor,
This method is not limited to three phase electric machine, but can apply to the motor with more or less phases.)
As noted, it is desirable to keep motor 10 static.It is necessary at motor in order to accomplish this point
There is no net torque generation.This is maintained on a direction to realize by the voltage vector angle being applied on motor, due to
Torque is produced when voltage vector angle is rotated.
As detailed below, voltage vector direction changes in measurement process, but this only voltage to
Amount amplitude when being zero and motor demagnetized after could realize.(it can such as assume motor in zero-voltage vectors
Fully demagnetized through being applied in after a preset time.Motor current can also be adjusted to zero order, in the situation
Under, voltage vector will be adjusted so that stator current is driven to zero.)
Fig. 5 is the vectogram of the threephase asynchronous 10 when applying positive U voltage vectors.Apply positive u phase currents vector
(Isu), apply positive U voltage vectors (showing that electric current is connected inflow motor by u).As shown in FIG. 5, if electric current is logical
Cross u to be connected inflow motor, then electric current must flow out motor (so as to provide negative electricity flow direction by v with the w phases of motor
Measure IsvAnd Isw)。
The phase setting steps 42 of algorithm 40 can select one in six vector directions to be applied on motor 10.Fig. 5
Shown in positive U vectors be option.Second option is that negative U is vectorial as shown in Figure 6.As shown in Figure 6, bear U to
Amount causes electric current to be connected by v with w (positive IsvAnd Isw) inflow motor 10, and cause electric current to be connected (negative from u
Isu) outflow.
In addition to positive and negative U vectors, step 42 is it is also an option that positive V vector, negative V be vectorial, positive W is vectorial and negative W vectors.
The electric current of flowing can be very big in test phase motor 10.In testing each time, all electric currents flow through motor
These in being connected, and electric current half flow through other two be connected in each (being directed to threephase motor).
In being connected by changing these which carrying whole test electric current, can be reduced in whole sequence in the He of inverter 8
Heat produced by the specific phase of one of motor 10.It reduce inverter 8 and/or motor 10 in these test measurements
During impaired possibility, and heat is also reduced to the influence of the measurement result obtained, while allowing to obtain
Multiple measurement results are it is hereby achieved that averaged power spectrum.
Phase is set in step 42, algorithm 40 is moved to step 44, wherein using direct current tracking step.Direct current tracking step 44
Apply multiple different size of vectors to motor 10.
Fig. 7 is flow chart, shows the more details of the direct current tracking step 44 of DC sequences algorithm 40.Direct current tracking is walked
Rapid 44 start in step 52, and wherein current order is set.In the case where positive U vectors are applied in (as shown in Figure 5),
Order setting steps 52 define the current vector I being applied insuSize.
Next, in step 54, current vector is given the time to settle out.Can be appropriate by providing in step 54
Delay realize.Alternatively, as described further below, can measure current vector so as to make on current vector what
When the decision that settles out.Caused by being settled out by avoiding waiting them when electric current is actually settled out not
Necessary delay improves accuracy there is provided measuring process, and potentially improves the speed measured.
Once current vector has been settled out, the survey to both size of current and the voltage applied is recorded in step 56
Measure result.
Finally, in step 58, it is determined that other having electric current electricity to be applied with the presence or absence of any for relevant phase vector
It is flat.If it does, direct current tracking step 44 returns to step 52, wherein using different current vectors.If it does not, step
44 complete, and algorithm 40 is moved to step 46.
In the step 46 of algorithm 40, determine any other phase of motor whether have be applied to test thereon to
Amount.If so, algorithm 40 returns to step 42, wherein different is mutually chosen.Then, direct current tracking step is mutually repeated for that
Rapid 44, and store other data acquisition system (in step 56).If not provided, algorithm 40 is moved to step 48.
In step 48, the data gathered in each example of the step 56 of direct current tracking step 44 are electronic for determining
The stator resistance R of machine 10s.Finally, in step 49, the R of motor is storedsAnd UeCurve.
Fig. 8 is the high-level schematic block diagram of electric motor system according to an aspect of the present invention, generally by with reference to mark
Numbers 60 indicate.Electric motor system 60 includes the inverter 8 and motor 10 of electric motor system 1 as described above.In addition, system
60 include direct current tracking generation module 61, proportional integration (PI) controller 62, pulsewidth modulation (PWM) module 63 and direct current tracking
Stable detection device 64.A part for the controller 12 of the formation system described above 10 of module 61,62,63 and 64.In system 60
AC power, rectifier and DC link capacitors (as shown in fig. 1) will be generally included, but these do not show in fig. 8
Go out.
Direct current tracking generation module 61 has the output in the first input for being coupled to PI controllers 62.PI controllers have
Second input, second input receives the data of the current level in each phase input of the three-phase input on motor 10.
PI controllers 62 have the output that voltage signal is provided to PWM controller 63.PI controllers 62 set voltage, so that by inverse
Become device 8 and be output to the electric current of motor 10 as direct current tracking generation module 61 is asked.
Direct current tracking stable detection device 64 has the first input of the input for being coupled to PI controllers 62 and is coupled to PI
Second input of the output of controller.
Direct current tracking generation module 61 is used to realize that the step 52 of direct current tracking algorithm 44 (to set and applies a current to electricity
In the selected phase of motivation 10).Direct current tracking stable detection device 64 determines when current order settles out, and therefore can use
In the step 54 for realizing direct current tracking algorithm 44 described above.
Fig. 9 shows the curve map for applying electric current of exemplary DC sequence, is generally indicated by reference number 65.It is bent
Line chart 65 shows the electric current in each phase in the three-phase of motor 10.First pulse 66 is applied to the u phases of motor 10
On.First pulse 66 is positive U pulses, and less negative V and negative W pulses (generally being indicated by reference number 67) occur simultaneously
(so that the overall current sum being applied on motor is zero).Second pulse 68 is applied in the v phases of motor 10,
And finally the 3rd pulse 69 is applied in the w phases of motor.
Therefore, curve map 65 shows the example implementations of algorithm 40.Algorithm 40 starts in step 42, wherein electronic
It (is initially the phase u) in curve map 65 that the one of machine, which is mutually chosen,.Next, using direct current tracking (step 44).Direct current tracking with
Untill high current starts, and the electric current is progressively smaller until its arrival zero.
As shown in Figure 9, pulse 66 includes multiple step-lengths.The electric current that each step-length of pulse 66 corresponds to algorithm 44 is ordered
Make electric current set in step 52.As described by above by reference picture 8, current order is by direct current tracking generation module 61
Set and be allowed to settle out (step 54 of algorithm 44).Once electric current has been settled out, measure and store inversion
The electric current and voltage output (step 56 of algorithm 44) of device 8, and adjust current order.
Once electric current is reduced to zero (so that pulse 66 is completed), one shorter stopping before next pulse is applied
Immediately electric current remains zero in whole three-phases of motor in.Regulation to the dead time ensures that the magnetic flux in motor exists
It is decreased to zero before applying ensuing pulse.If the dead time is too short, then rotor flux will be retained in motor, and
The application of next pulse provides the stator magnetic flux that will be interacted with rotor flux, causes to produce torque in motor.
Dead time completes, and algorithm 40 is moved to step 46, wherein determining to need to test other phase.Then, algorithm 40
Step 42 is returned to, wherein v phases are chosen.By it is a kind of be similar to pulse 66 in the way of pulse 68 is applied on motor 10.
Once being applied with pulse 68, apply pulse 69.Upon application of pulse 69, algorithm 40 is moved to step 48 and step 49,
Wherein determine and store stator resistance and UeCurve data (as described further below).
In order to protect driving and motor, the magnitude of current applied is restricted.This can be designated as nominal drive
Or junior in motor current or its some factor are (for example, 80% and rated motor electric current of nominal drive current
90%).Compared with rated motor and driving voltage, the result voltage required for adjusting that electric current is relatively low, because
Relatively low (the only R of motor impedance in DC excitations), and there is no counter electromotive force when static.
As set forth above, it is possible to for motor 10 all phases (i.e. positive U, negative U, positive V, negative V, positive W and negative W) collection direct current with
Track data.However, being only a subset collection direct current tracking data of those phases in certain embodiments of the present invention.Example
Such as, only three (such as positive U, positive V and positive W directions) can be used in these vectors.In fact, these shown in Fig. 9
Exemplary current is applied only on positive U, positive V and positive W phases.
As described above, in step 48, the data gathered in each example of the step 56 of direct current tracking step 44 are used
In it is determined that the stator resistance R of motor 10s, and in step 49, store the R of motor 10sAnd UeCurve.
Figure 10 shows the curve map for measuring electric current and voltage that the step 56 in DC sequences described above is recorded,
Generally indicated by reference number 70.Curve map is made up of the statistical average of 3 tracks, motor in the positive direction it is every
One corresponds to a track.Curve map includes inelastic region (generally being indicated by reference number 72) and linear zone is (generally
Indicated by reference number 74).It is determined that for the stator resistance estimation of the motor in test, using in higher current levels
The linear regression of the DC sequences data of (i.e. in linear zone) determines slope (resistance).Can be with to the estimation of stator resistance
Carried out using the nonlinear regression analysis of data.For example, nonlinear function v can be fitted data totrace=vdrop(1-e-kitrace)+rsitraceTo determine parameter vdrop, k and rs。
Figure 11 shows exemplary UeCurve, is generally indicated by reference number 80.UeCurve is simply from track number
Remaining remnants after ohmic drop are subtracted in.
Ue=V (I)-Rhat*I, wherein Rhat (R, ^) are by estimating stator resistance determined by regression analysis.
As described above, algorithm 20 includes DC sequences step 22 and exchanges sequence step 24.Retouched by reference to Fig. 4 to Figure 11
DC sequences step 22 is stated.The sequence step 24 of description exchange below.
Exchange sequence is used to measure nominal transient inductance, magnetized stator inductance and rotor resistance.On nominal stator inductance is
State the main inductance L shown in equivalent circuit 30hWith stator leakage inductance Ls1Sum.
The transformed equivalent circuit of motor when Figure 12 is static, these values refer to exchange sequence described below
Stator side used in row step.Equivalent circuit (generally being indicated by reference number 85) includes stator resistance Rs, it is mentioned
Stator inductance Ls′, mentioned main inductance Lh′And mentioned rotor resistance Rr′, wherein：
Figure 13 is the flow chart of exchange sequence according to an aspect of the present invention, is generally indicated by reference number 90.
Algorithm 90 starts in step 92, wherein it is determined which of motor 10 will mutually be used for motor Injection Signal (example
Such as, u, v and w phase as described above).By it is a kind of be similar to DC sequences algorithm 40 in the way of, will exchange sequence be applied to it is electronic
In the different phases of machine, so as to during entirely exchange sequence by heat diffusion to inverter 8 and motor 10.
Phase is set in step 92, algorithm 90 is moved to step 94, and wherein DC level is set.Next, in step 96,
AC signal with set ensuing pulse offsets in step 94 is applied to selected electronic in step 92
In machine phase.Use three basic AC signals.First, high-frequency signal is injected, for estimating instantaneous motor inductance.Second, make
Mutual inductance (magnetizing inductance) is estimated with low frequency injection.Finally, slip frequency is injected to estimate rotor resistance.The institute in DC sequences
The U of determinationeCurve can be used for or command voltage (feedforward compensation-for example as shown in Figure 15), for the anti-of processing
Inverter in feedthrough voltage (feedback decoupling compensation-for example as shown in Figure 16) or its combination (such as shown in Figure 17) is non-
Linearly compensate.Of course, it is possible to use many other regulation arrangements in addition to Figure 15 to those shown in Figure 17.
Current regulator, which has, can adjust direct current and exchange the characteristic of two kinds of waveforms.For low injected frequency, direct current sequence
Pi regulator 62 used in row is appropriate.However, being injected for high frequency, resonance current adjuster can be used to increase
The size of of ac.
In step 98, many primary currents and/or voltage measurement are carried out, and it is stored for then to calculate.
The electric current of voltage applied or measured and measurement is processed for really using single-frequency discrete Fourier transform (DFT)
It is scheduled on the size and phase of voltage and current in injected frequency.The phase of voltage swing, size of current and electric current relative to voltage
Position is stored for calculating.
Algorithm is moved to step 100, where it is determined whether the AC signal with different direct current offsets is applied in step
In rapid 92 selected motor phase.If carrying out more direct current steps, algorithm 90 returns to step 94, other in which
DC level is chosen.If not, algorithm 90 is moved to step 102.
In step 102, it is determined whether to apply ac signals in any other phase of motor.If it is, algorithm
90 return to step 92, wherein, being mutually chosen in addition.If not, algorithm 90 is moved to step 104.
These electric currents and voltage stored in step 104, each example of the step 98 of algorithm 90 are used to calculate
Transient inductance, mutual inductance and the rotor resistance of motor 10.
Can be from the voltage swing and electric current applied and the ratio of the product for the frequency for lagging behind 90 degree of applied voltage
To determine transient inductance.Once it is determined that transient inductance, it is possible to it is determined that dynamic mutual inductance.Dynamic mutual inductance is magnetizing voltage size
(voltage applied subtracts IR pressure drops and transient resistance pressure drop) and the product of electric current and the frequency for lagging behind 90 degree of magnetizing voltage
Ratio.
Stator inductance is determined, dynamic mutual inductance is integrated on electric current to obtain magnetizing magnetic flux.
Then, mutual inductance is calculated from magnetization magnetic flux：
Then, stator inductance is determined by the way that transient inductance is added in mutual inductance：
Ls=Lh′+Ls′
By determine obtain nominal stator magnetic flux (from nameplate data determine) required for electric current and identify that electricity
The corresponding stator inductance on level is flowed to determine specified stator inductance.
ψs=Ls·IsVA0
Rotor resistance is the compensating calculation that dynamic mutual inductance is calculated.By magnetizing voltage size, (voltage applied subtracts IR for it
Pressure drop and transient resistance pressure drop) and with ratio of the magnetizing voltage with the electric current of phase.
Figure 14 shows the electric current VS time plots for applying electric current of exemplary exchange sequence, generally by with reference to mark
Numbers 110 indicate.Curve map 110 shows the electric current in each phase in the three-phase of motor 10.First exchange sequence 112 is applied
It is added in the u phases of motor 10.First pulse 112 is positive U pulses, and less negative V and negative W sequences are (generally by referring to
Label 114 is indicated) while occurring (so that the overall current sum being applied on motor is zero).Sequence is exchanged by second
116 are applied in the v phases of motor 10, and finally the 3rd exchange sequence 118 is applied in the w phases of motor.
Curve map 110 shows the example implementations of algorithm 90.Algorithm 90 starts in step 92, wherein motor
One is mutually chosen (to be initially the phase u) in curve map 110.Next, selecting multiple different DC offset levels (to realize successively
The step 94 of algorithm 90 is to step 100).The exchange sequence for aligning U phases is completed, and is then exchanged sequence and is sequentially applied to positive V phases
In positive W phases.In some implementations of the present invention, will can also exchange sequence be applied to one in negative U, V and W phase or
On multiple.
Note, as above-mentioned DC sequences algorithm, once electric current is decreased to zero after completing exchange sequence, applying electricity
In a shorter dead time before the out of phase pulse of motivation, electric current is remained in all three phases of motor
Zero.As described above, the regulation to the dead time ensures that the magnetic flux in motor is decreased to zero before ensuing pulse is applied.
If the dead time is too short, then rotor flux will be retained in motor, and next pulse application provide will with turn
The stator magnetic flux that sub- magnetic flux is interacted, causes to produce torque in motor.
3rd exchange sequence 118 of curve map 110 is included with about 63% direct current offset for allowing DC current
Part I 119, the Part II 120 with about 75% direct current offset, the with about 38% direct current offset the 3rd
Part 121 and the Part IV of direct current offset with about 25%.Sum it up, selecting these current levels so that each
Resistance power loss (I in phase2R it is) in a balanced way in whole sequence.
As shown in Figure 14, Part I 119 is started with HFS, and the HFS is above carried in specified direct current offset
For high frequency injection.It is followed of low frequency injection.Part II 120 is similar with the structure of Part III 121, the height with starting
Frequency part and follow-up low frequency part.Part IV 122 is in the specified slip frequency of motor.
As described above, exchange sequence is used to estimate transient inductance, mutual inductance and rotor resistance, and it is made up of three parts, this
Three parts can carry out and can be combined in any order.These tests are carried out in various DC levels, so that
The saturation degree of mutual inductance can be characterized.Part I is made up of high frequency injection, and high frequency injection may be typically about specified
Four to six times of electric machine frequency, and for estimating transient inductance.Part II is by the low frequency part for measuring dynamic mutual inductance
Composition.Then this is integrated, and transient inductance is included, to obtain stator inductance.Part III is in volume
Determine the intermediate frequency injection in slip frequency, and for estimating rotor resistance.Part III in rated motor electric current about 25%
Electric current on carry out.
As shown in Figure 14, exchange sequence 112,116 and 118 each has includes radio-frequency head in different DC levels
Divide with three sequences of low frequency part and the 4th sequence with intermediate-freuqncy signal.The first and second parts shown in Figure 14
Nine DC levels are dispersed in three motor phases, and its mode is make it that total-power loss is roughly equal for each phase.
These level are ranked up in each phase so that second electrical level be highest and the 3rd level be it is minimum, thus most
Dead time and transition between smallization phase.Insert Part III so that each phase or last level or
Penultimate level depends on these DC levels.Certainly, although have selected nine in exemplary embodiment described herein
The individual DC level being distributed in three phases of electric motor system, the present invention can realize with any amount of DC level,
Including non-three power (such as eight or ten DC levels).The purpose is to balancing loss, and still obtain high-quality survey
Amount.
Embodiments of the invention described above are only provided by way of example.Those skilled in the art will be appreciated that not
Many modifications, change and the replacement that can be carried out in the case of deviateing the scope of the present invention.Claims of the present invention purport
Covering all such modifications fallen within the spirit and scope of the present invention, change and replacing.
Claims (13)
1. a kind of method for the electromagnetic property for determining Motor System, this method includes applying one to the electric motor system
DC sequences and apply an exchange sequence to the electric motor system, wherein, the DC sequences are included to the electric motor system
One first mutually apply first DC sequences and to one second of the electric motor system mutually apply one it is second straight
Sequence is flowed, and the exchange sequence includes mutually applying an exchange to one the 3rd and/or one the 4th of the electric motor system
Sequence, first and second DC sequences each include：
It is provided for first direct current power level being applied on the electric motor system, and measures first straight in response to this
Flow the setting of current level and be applied to electric current and/or voltage on the electric motor system；
Reduce the direct current power level applied, and measurement is applied to this in response to the adjusted direct current power level
Electric current and/or voltage on motor；And
The reduction and measuring process are repeated, until the direct current power level applied reaches zero, corresponding direct current sequence is then completed
Row.
2. the method for claim 1, wherein for a DC sequences in these DC sequences during applied
Each direct current power level, the motor is given the time with stable before these voltages and/or current measurement is carried out
Get off.
3. method as claimed in claim 2, further comprises being monitored the electric current being applied on the motor determining
When the direct current power level applied settles out.
4. method as claimed any one in claims 1 to 3, wherein, the exchange sequence includes being somebody's turn to do to the electric motor system
Third phase applies one first exchange sequence and mutually applies one second exchange sequence to the 4th of the electric motor system the, should
First and second exchange sequence each includes：
One the first DC offset levels is set；
Mutually apply one or more AC signals to the correspondence of the electric motor system, it is set straight that these AC signals include this
Flow offset level, and measure be applied in response to these AC signals applied the electric current on the electric motor system and/
Or voltage；
The DC offset levels are adjusted, mutually applying to the correspondence of the electric motor system includes the adjusted DC offset levels
One or more AC signals, and measure be applied in response to the signal that this is applied the electric current on the motor and/or
Voltage；And
The adjustment and measuring process are repeated, until completing corresponding exchange sequence.
5. method as claimed in claim 4, wherein, mutually apply one or more AC signals to the correspondence of the electric motor system
Including applying one or more of the following：One high-frequency signal, a low frequency signal and a slip frequency.
6. method as claimed in claim 4, wherein, these DC offset levels of these exchange sequences are dispersed in the motor
In these phases of system, its mode is make it that total-power loss is roughly equal for each phase.
7. method as claimed any one in claims 1 to 3, wherein, these direct currents make this with exchanging sequence and be applied that
Any torque produced by electric motor system is minimized.
8. method as claimed any one in claims 1 to 3, wherein, the DC sequences further comprise to the motor system
One the 5th of system mutually applies the 3rd DC sequences.
9. method as claimed any one in claims 1 to 3, wherein, the exchange sequence further comprises to the motor system
One the 6th of system mutually applies the 3rd and exchanges sequence.
10. method as claimed any one in claims 1 to 3, further comprises using the application from the DC sequences
Obtained in data come determine the motor stator resistance and/or one be used for drive the motor inverter non-thread
Property.
11. method as claimed any one in claims 1 to 3, further comprises using the application from the exchange sequence
Obtained in data determine nominal stator transient inductance, magnetizing inductance and/or the rotor resistance of the motor.
12. method as claimed any one in claims 1 to 3, wherein, this of the electric motor system first and second is mutually selected
From：One positive U vector, a negative U vector, a positive V vector, a negative V vector, a positive W be vectorial and a negative W to
Amount.
13. method as claimed in claim 4, wherein, this of the electric motor system third and fourth is mutually selected from：One positive U to
Amount, a negative U vector, a positive V vector, a negative V vector, a positive W vector and a negative W vector.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201261681180P | 2012-08-09 | 2012-08-09 | |
| US61/681,180 | 2012-08-09 | ||
| PCT/IB2013/055692 WO2014024059A2 (en) | 2012-08-09 | 2013-07-11 | Automated motor adaptation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104521132A CN104521132A (en) | 2015-04-15 |
| CN104521132B true CN104521132B (en) | 2017-10-27 |
Family
ID=49237548
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380041610.XA Active CN104521132B (en) | 2012-08-09 | 2013-07-11 | Automatic electric motivation is adapted to |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US20150177328A1 (en) |
| CN (1) | CN104521132B (en) |
| DE (1) | DE112013003953T5 (en) |
| WO (1) | WO2014024059A2 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10241152B2 (en) | 2013-08-02 | 2019-03-26 | Danfoss Power Electronics A/S | Automated motor adaptation |
| KR102039325B1 (en) * | 2015-09-17 | 2019-11-01 | 엘에스산전 주식회사 | Method for estimating parameter of induction machines |
| GB201522228D0 (en) * | 2015-12-16 | 2016-01-27 | Trw Ltd And Trw Automotive U S Llc And Zf Friedrichshafen Ag | Motor control system |
| FR3066276B1 (en) * | 2017-05-10 | 2019-04-26 | Schneider Toshiba Inverter Europe Sas | METHOD FOR IDENTIFYING THE ELECTRICAL RESISTANCE OF THE ROTOR OF AN ELECTRIC MOTOR |
| CN111800048B (en) * | 2019-04-03 | 2022-02-15 | 深圳市正弦电气股份有限公司 | Static parameter identification method for induction motor |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101944878A (en) * | 2009-07-03 | 2011-01-12 | Abb公司 | Induction motor parameter identification |
| CN102291080A (en) * | 2011-07-08 | 2011-12-21 | 哈尔滨工业大学 | Adaptive-compensation-based asynchronous motor parameter recognition method |
Family Cites Families (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1540997A (en) * | 1975-05-16 | 1979-02-21 | Euratom | Apparatus for controlling ac-motors |
| JPH09304489A (en) * | 1996-05-09 | 1997-11-28 | Matsushita Electric Ind Co Ltd | Method for measuring motor constant of induction motor |
| DE19722451C1 (en) * | 1997-05-28 | 1998-09-10 | Doehler Peter Dipl Kaufm | Electrical model railway with central signalling station |
| DE19722453C1 (en) * | 1997-05-28 | 1998-10-15 | Doehler Peter Dipl Kaufm | Electrical power drive system |
| US6008618A (en) * | 1997-11-26 | 1999-12-28 | General Motors Corporation | Zero speed start-up for a speed sensorless induction motor drive |
| US6774664B2 (en) * | 1998-09-17 | 2004-08-10 | Danfoss Drives A/S | Method for automated measurement of the ohmic rotor resistance of an asynchronous machine |
| US6172475B1 (en) * | 1998-09-28 | 2001-01-09 | The Chamberlain Group, Inc. | Movable barrier operator |
| US6069467A (en) * | 1998-11-16 | 2000-05-30 | General Electric Company | Sensorless rotor tracking of induction machines with asymmetrical rotor resistance |
| CN2393268Y (en) * | 1999-08-16 | 2000-08-23 | 黄群 | Intelligent motor |
| US6636012B2 (en) * | 2001-09-28 | 2003-10-21 | Rockwell Automation Technologies, Inc. | Stator and rotor resistance identifier using high frequency injection |
| US6862538B2 (en) * | 2002-07-23 | 2005-03-01 | Reliance Electric Technologies, Llc. | Induction motor module and motor incorporating same |
| US20040017118A1 (en) * | 2002-07-23 | 2004-01-29 | Yehia El-Ibiary | System and method for estimating electric motor operating parameters |
| US7164243B2 (en) * | 2003-09-30 | 2007-01-16 | Reliance Electric Technologies, Llc | System and method for establishing motor efficiency during balanced or unbalanced operating conditions |
| US7135830B2 (en) * | 2003-09-30 | 2006-11-14 | Reliance Electric Technologies, Llc | System and method for identifying operational parameters of a motor |
| US7184902B2 (en) * | 2003-09-30 | 2007-02-27 | Reliance Electric Technologies, Llc | Motor parameter estimation method and apparatus |
| US7570074B2 (en) * | 2005-05-09 | 2009-08-04 | Square D Company | Electronic overload relay for mains-fed induction motors |
| BRPI0811391A2 (en) * | 2007-06-04 | 2014-11-04 | Eaton Corp | "SYSTEM FOR DETERMINING ENGINE EFFICIENCY, COMPUTER-READABLE STORAGE MEDIA AND METHOD FOR DETERMINING INSTANT EFFICIENCY OF ONLINE OPERATION" |
| SE532537C2 (en) * | 2007-06-12 | 2010-02-16 | Subsee Ab | Device and method for off-line testing of an electric motor |
| US8102140B2 (en) * | 2008-05-16 | 2012-01-24 | Schneider Electric USA, Inc. | Method and apparatus for estimating induction motor electrical parameters |
| US7769552B2 (en) * | 2008-05-16 | 2010-08-03 | Schneider Electric USA, Inc. | Method and apparatus for estimating induction motor rotor temperature |
| US8384338B2 (en) * | 2009-01-30 | 2013-02-26 | Eaton Corporation | System and method for determining stator winding resistance in an AC motor using motor drives |
| DE102009011674A1 (en) * | 2009-02-24 | 2010-09-02 | Hkr Climatec Gmbh | Method for operating electrical machine, involves feeding alternative voltages in one of stator windings, where alternative voltage has multiple voltage impulses |
| EP2421145B1 (en) * | 2010-08-16 | 2015-02-11 | Baumüller Nürnberg GmbH | Apparatus and method for identifying equivalent circuit parameters of an alternating current asynchronous motor without using a rotary encoder |
| GB201112247D0 (en) * | 2011-07-15 | 2011-08-31 | Wind Technologies Ltd | Brushless doubly fed machines |
| CN103064021B (en) * | 2011-10-18 | 2015-12-09 | 台达电子企业管理（上海）有限公司 | The measurement mechanism of induction motor excitation parameter and method |
| US9007014B2 (en) * | 2012-10-19 | 2015-04-14 | The Board Of Trustees Of The University Of Illinois | System and method for compensating for high frequency application of ripple correlation to minimize power losses in induction machines |
| CN103869172B (en) * | 2012-12-10 | 2016-09-14 | 台达电子企业管理（上海）有限公司 | The rotor resistance measuring method of induction machine and measurement apparatus |
| US8988035B2 (en) * | 2012-12-19 | 2015-03-24 | Eaton Corporation | System for determining a magnetizing curve and rotor resistance of an induction machine and method of making same |
-
2013
- 2013-07-11 CN CN201380041610.XA patent/CN104521132B/en active Active
- 2013-07-11 US US14/420,004 patent/US20150177328A1/en not_active Abandoned
- 2013-07-11 DE DE201311003953 patent/DE112013003953T5/en active Pending
- 2013-07-11 WO PCT/IB2013/055692 patent/WO2014024059A2/en active Application Filing
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101944878A (en) * | 2009-07-03 | 2011-01-12 | Abb公司 | Induction motor parameter identification |
| CN102291080A (en) * | 2011-07-08 | 2011-12-21 | 哈尔滨工业大学 | Adaptive-compensation-based asynchronous motor parameter recognition method |
Also Published As
| Publication number | Publication date |
|---|---|
| DE112013003953T5 (en) | 2015-04-23 |
| WO2014024059A2 (en) | 2014-02-13 |
| WO2014024059A3 (en) | 2014-09-12 |
| US20150177328A1 (en) | 2015-06-25 |
| CN104521132A (en) | 2015-04-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104521132B (en) | Automatic electric motivation is adapted to | |
| Razali et al. | Analysis and design of new switching lookup table for virtual flux direct power control of grid-connected three-phase PWM AC–DC converter | |
| Dong et al. | Comparative analysis of exciting current harmonics and reactive power consumption from GIC saturated transformers | |
| CN1157845C (en) | Non-synchronous motor parameter identification method | |
| Mirafzal et al. | Determination of parameters in the universal induction motor model | |
| US8742767B2 (en) | Parameter estimation system and method for an induction motor | |
| TWI518345B (en) | Method and apparatus for measuring rotor resistance of induction motor | |
| US20040056661A1 (en) | Phase current detector | |
| CN106291361B (en) | The fault detection method and device of brshless DC motor | |
| CN105227019B (en) | Motor temperature variation influences to minimize device and method | |
| CN104426447B (en) | Method and apparatus for determining the pole wheel position of electronic commutation motor | |
| US10241152B2 (en) | Automated motor adaptation | |
| CN106026820A (en) | Methods of auto tuning machine parameters and systems thereof | |
| Seok et al. | Optimal flux selection of an induction machine for maximum torque operation in flux-weakening region | |
| US7327134B1 (en) | Method and system for transformer control | |
| Khoobroo et al. | Magnetic flux estimation in a permanent magnet synchronous machine using field reconstruction method | |
| Saleh | The Development and Performance Testing of a $ V/f $ Control for Induction Motors Fed by Wavelet Modulated Power Electronic Converters | |
| JP6833638B2 (en) | Evaluation device and evaluation method for inverter circuits for electric motors | |
| Wolbank et al. | Inverter statistics for online detection of stator asymmetries in inverter-fed induction motors | |
| CN110308392B (en) | Method for testing mechanical characteristics of double-branch AC permanent magnet motor | |
| Tekgun | Analysis, measurement and estimation of the core losses in electrical machines | |
| CN103780183B (en) | The method and converter device of control current transformer are compensated using quiescent time | |
| Terzic et al. | Comparison of experimental methods for electromagnetic characterization of switched reluctance motors | |
| JP3052315B2 (en) | Induction motor constant measurement method | |
| JP3092839B2 (en) | Inverter device with constant measurement setting function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |